[Alavinus]

We need more information to answer your question more directly. Here goes some suggestions:

If you are talking about solenoids (You would like to move a cylinder) then you run the wires from the solenoid back to a spike and then pwm cables from the spike back to Robot Controller.

If you are talking about the pressure switch, then you run that to the Digitial I/O pins on the RC.

I would STRONGLY suggest you read the pnuematics guide that FIRST has published and is available on their website.